WO2014075936A1 - Method and device for warning against cross traffic when leaving a parking space - Google Patents

Method and device for warning against cross traffic when leaving a parking space Download PDF

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Publication number
WO2014075936A1
WO2014075936A1 PCT/EP2013/072876 EP2013072876W WO2014075936A1 WO 2014075936 A1 WO2014075936 A1 WO 2014075936A1 EP 2013072876 W EP2013072876 W EP 2013072876W WO 2014075936 A1 WO2014075936 A1 WO 2014075936A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
sensors
cross traffic
traffic
environment
Prior art date
Application number
PCT/EP2013/072876
Other languages
German (de)
French (fr)
Inventor
Stephan Max
Peter Baumann
Reiner Katzwinkel
Original Assignee
Volkswagen Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Priority to CN201380059535.XA priority Critical patent/CN104797460B/en
Priority to US14/442,247 priority patent/US9630556B2/en
Priority to EP13785478.2A priority patent/EP2920028B1/en
Publication of WO2014075936A1 publication Critical patent/WO2014075936A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/004—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors
    • B60Q9/006—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle using wave sensors using a distance sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9317—Driving backwards

Definitions

  • the invention relates to a method for warning against cross traffic in Ausparkituationen, in particular rearward Ausparkituationen, a motor vehicle according to the
  • Remote range sensors are arranged in the area of the vehicle corners that they
  • Radar or lidar sensors are usually used as long-range sensors, although video cameras are now also being used.
  • EP 1 878 615 A1 discloses a warning device and a method for monitoring the surroundings of a vehicle, wherein the warning device has an environment sensor in the region of each vehicle corner of the vehicle.
  • an environmental sensor includes a proximity sensor, as well as two remote range sensors.
  • the short-range sensor and one of the two long-range sensors thereby look in the lateral direction with respect to the vehicle longitudinal axis, while the observation direction of the second long-range sensor essentially obliquely forward or at the rear
  • the cross traffic can be detected both when driving forward and when reversing to a running substantially perpendicular to the direction of travel roadway. Furthermore, the cross traffic can also be detected when parking out of a L Lucassparklücke.
  • the warning device of the vehicle further on the side of the vehicle arranged near range sensors on. By means of these proximity sensors as well as the proximity sensors of the environment sensors located at the corners of the vehicle, the immediate lateral environment of the vehicle is detected. Therefore, a lateral long-range sensor is activated only when the corresponding short-range sensors have detected that there is no obstacle in the way for the lateral long-range sensor.
  • the side remote area sensor is activated on this side only if the side of the vehicle, such as the wall of a gate entrance or a vehicle parked in the neighboring parking space at the exit from a transverse parking space.
  • Near range sensors detect a sudden change in the distance to the lateral obstacle, the viewing direction of the lateral remote area sensor is thus free. If the long-range sensor detects a transverse traffic, ie a vehicle approaching laterally on the roadway, a warning is issued to the driver. Alternatively, the
  • Warning device as a function of the risk potential also actuate the brake system of the vehicle and bring the vehicle to a standstill.
  • a driver assistance system which has sensors for detecting a cross traffic, wherein at a detected cross traffic calculates the collision probability and when exceeding a predetermined threshold, a braking maneuver is triggered.
  • Document DE 10 2009 060 165 A1 discloses a method and a device for parking a vehicle from an angle to the longitudinal direction of the vehicle
  • proximity sensors of the vehicle capture environmental information about lateral areas of the vehicle and used for lateral steering of the vehicle.
  • Document DE 10 2008 047 284 A1 describes a driver assistance device for assisting a driver when parking out of a longitudinal parking space, with cross traffic being observed on the lateral traffic lanes by means of remote area sensors.
  • the invention is therefore based on the object, a method and apparatus for warning against cross traffic when parking a vehicle from a transverse parking space to create, which inform the driver continuously during the Ausparkvorgang about the environmental situation.
  • Embodiments of the invention are the subject of the dependent claims.
  • the inventive method for warning a driver of an ego vehicle from cross traffic in a Ausparkituation in particular a rear Ausparkituation from a Querparklücke, the motor vehicle has at least in the area of the rear corners remote area sensors for detecting possible cross traffic and lateral Nah Suitesensoren for detecting the nearby vehicle environment, and A warning is generated when at least one of the remote area sensors detects cross traffic, has the following steps:
  • the vehicle is equipped with long-range sensors at all four corners of the vehicle, then preferably only those long-range sensors in the direction of travel of
  • Remote range sensors are, for example, radar sensors, lidar sensors or
  • Video sensors As proximity sensors usually ultrasonic sensors are used, as they are used for example in parking steering assistants.
  • the driver learns by indicating that a remote area sensor and in particular which remote area sensor does not have a clear view of the cross traffic, so is blocked.
  • the indication of remote area sensors without a clear view is displayed optically in a display. More preferably, in the display, a representation of the ego vehicle and its close environment is generated, it being visually apparent from the representation which remote area sensor does not have a clear view of the cross traffic.
  • a blocked or both blocked remote area sensors can be displayed as an indication.
  • the distances determined from the proximity detection are added to
  • the probability is preferably calculated when a line-of-sight connection of a blocked remote area sensor takes place.
  • the reference to a blocked line of sight is formed by a symbol, in particular a colored bar, which is blocked in the area of the block
  • Remote area sensor is displayed in the representation of the vehicle environment.
  • the hint is canceled if the obstruction of the
  • both the blocked and the line-of-sight remote range sensors are shown in the display. In this way, the driver is always informed about the state of his assistance system and can adjust his driving behavior accordingly.
  • a motor vehicle remote area sensors for detecting possible cross-traffic
  • lateral proximity sensors for detecting the nearby motor vehicle environment
  • a warning device for warning against cross traffic
  • a display which is shown in which
  • Fern Schemesensor has no line of sight on the cross traffic.
  • the device preferably has a device for generating an environment map from the measurement results of the proximity sensors, the probability for a free view of the remote region sensors being determined from the environment map in the region of the presumed line of sight to possible cross traffic.
  • Fig. 2 shows the representation of the vehicle environment including essential information in a display
  • Fig. 3 shows the representation of the vehicle environment in a through a side obstacle
  • Fig. 1 shows a parking lot 1 consisting of a plurality of parking spaces 2, which are separated by markings.
  • the parking lot 1 extends on a road with the lanes 3, 4.
  • a vehicle 5 is about to park out backwards from the transverse parking space in the lane 3.
  • a parking vehicle 6 is arranged on the passenger side in the neighboring parking space so that the driver of the parking vehicle 5 does not have a sufficient view of the vehicle 7 which is located on the lane 3 and crosses the planned parking trajectory, so that a risk of collision exists.
  • the warning device senses the transverse traffic represented by the vehicle 7 and warns the driver in critical situations, as shown in Fig. 1st is shown.
  • Warnings on crossing vehicles 7, without the driver of the ego vehicle 5 can recognize this.
  • lateral ultrasonic sensors (not shown), as they are present for example in a parking steering assistants and are used to measure the parking spaces and for parking, the environment of
  • Egohuss 5 are measured and registered in an environment map.
  • the driver can therefore by the result of the determination of the close environment in the form of a Note that the right rear radar 8 due to the cover by the parking vehicle 6 has no free field of view. Due to this information, the driver can drive accordingly carefully.
  • Fig. 2 shows the representation of the immediate environment of the ego vehicle 5 of FIG. 1 in a display 10, which has an upper information bar 1 1, a display area 12 for
  • Info bar 1 1 indicates which assistance function is active.
  • the optical parking system OPS is active.
  • the display area 12 is a
  • Symbol 16 is the unobstructed view of the left-hand tail radar 9. Should there be 14 obstacles in the vehicle environment in the vicinity of the vehicle 10, these are symbolically represented in the display area 12.
  • the display 10 has a lower information bar 13, are displayed in the current information to the driver. Since in the present example a rearward
  • Ausparkvorgang takes place, the driver is indicated that he should control the route.
  • FIG. 3 shows the situation in which, when the vehicle is parked backwards out of a transverse parking space, a vehicle or other obstacle parked in an adjacent parking space, such as a wall at the beginning of the parking maneuver, blocks the view of a tail radar 8, 9 on the transverse traffic.
  • the lateral proximity sensors for example the lateral ultrasonic sensors of a parking steering assistant
  • obstacles in the vicinity of the ego vehicle are detected and registered in an environment map.
  • a probability for a free view of the radar sensor or sensors and thus their perfect functionality is determined.
  • a message is displayed in the environment display 12 at the point at which the remote area sensor has no free view.
  • the indication may, for example, take the form of a thick colored bar 17 which indicates on which vehicle side the tail radar is not a clear view and therefore no cross traffic can yet be detected at the current vehicle position.
  • the left rear radar of the vehicle would not have a clear view. If the ausparkende ego vehicle has moved to a position in which the rear radar has a clear view, the symbolized by the bar 17 Note is turned off again and it will appear the symbol 16 of FIG. 2 for clear view.
  • the driver is informed about the functionality of the remote area sensors observing the cross traffic, in the example the tail radar sensors and can be
  • Remote area sensors are equipped for cross traffic.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for warning the driver of a vehicle (5) against cross traffic (7) when leaving a parking space, particularly when leaving in reverse from a parking space, wherein the motor vehicle has far-field sensors (8, 9) at least in the region of the rear-end corners for detecting possible cross traffic and lateral near-field sensors for detecting the near surroundings of the vehicle and wherein the warning is generated if at least one of the far-field sensors detects cross traffic. The method has the following steps: surveying the nearby lateral surroundings of the driver's vehicle while leaving the parking space, determining from the results of the near-field detection whether the far-field sensors have a free view of the cross traffic, and generating a notification (17) to the driver if one or both far-field sensors do not have a free view of the cross traffic.

Description

Beschreibung  description
Verfahren und Vorrichtung zur Warnung vor Querverkehr bei Ausparksituationen Method and device for warning against cross traffic in the event of a breakdown
Die Erfindung betrifft ein Verfahren zur Warnung vor Querverkehr bei Ausparksituationen, insbesondere rückwärtigen Ausparksituationen, eines Kraftfahrzeugs gemäß dem The invention relates to a method for warning against cross traffic in Ausparkituationen, in particular rearward Ausparkituationen, a motor vehicle according to the
Oberbegriff des Anspruchs 1 sowie eine entsprechende Vorrichtung gemäß dem Oberbegriff des Anspruchs 10. The preamble of claim 1 and a corresponding device according to the preamble of claim 10.
Generell ist das Ausparken aus Parklücken bzw. allgemein das Einfahren auf eine Fahrbahn bei unübersichtlichen Verhältnissen aufgrund des immer möglichen Querverkehrs für den Fahrer schwierig. Bei ungünstigen Sichtverhältnissen, wie rückwärtigem Ausparken aus einer Querparklücke oder Einfahren auf eine Fahrbahn aus einer engen Einfahrt, kommt es häufig vor, dass sich der Fahrer in den Fahrbahnbereich vorsichtig vortasten muss, was aber nicht notwendigerweise eine mögliche Kollisionsgefahr verringert. In general, it is difficult for the driver to park out of parking spaces or, in general, to enter a roadway in confusing conditions due to the always possible cross traffic. In unfavorable visibility conditions, such as rear parking out of a transverse parking space or entering a lane from a narrow driveway, it often happens that the driver has to be careful in the roadway area, but this does not necessarily reduce the risk of collision.
Um dem Fahrer beim unübersichtlichen Einfahren auf eine Fahrbahn zu unterstützen, sind Umfeldüberwachungssysteme mit Fernbereichssensoren bekannt, wobei die In order to assist the driver in confusing driving on a roadway, environmental monitoring systems with remote area sensors are known, the
Fernbereichssensoren so im Bereich der Fahrzeugecken angeordnet sind, dass sie Remote range sensors are arranged in the area of the vehicle corners that they
Querverkehr bei einer Einfahrt des Fahrzeugs auf eine Fahrbahn frühzeitig erkennen können. Als Fernbereichssensoren kommen üblicherweise Radar- oder Lidarsensoren zur Anwendung, wobei mittlerweile auch Videokameras Anwendung finden. Cross traffic at an entrance of the vehicle on a roadway can detect early. Radar or lidar sensors are usually used as long-range sensors, although video cameras are now also being used.
So ist aus der Druckschrift EP 1 878 615 A1 eine Warneinrichtung und ein Verfahren zur Umfeldüberwachung eines Fahrzeugs bekannt, wobei die Warneinrichtung im Bereich jeder Fahrzeugecke des Fahrzeugs einen Umfeldsensor aufweist. Ein derartiger Umfeldsensor umfasst einen Nahbereichssensor, sowie zwei Fernbereichssensoren. Der Thus, EP 1 878 615 A1 discloses a warning device and a method for monitoring the surroundings of a vehicle, wherein the warning device has an environment sensor in the region of each vehicle corner of the vehicle. Such an environmental sensor includes a proximity sensor, as well as two remote range sensors. Of the
Nahbereichssensor und einer der beiden Fernbereichsensoren blicken dabei bezüglich der Fahrzeuglängsachse in seitlicher Richtung, während die Beobachtungsrichtung des zweiten Fernbereichssensor im Wesentlichen schräg nach vorne bzw. bei den hinteren The short-range sensor and one of the two long-range sensors thereby look in the lateral direction with respect to the vehicle longitudinal axis, while the observation direction of the second long-range sensor essentially obliquely forward or at the rear
Umfeldsensoren schräg nach hinten zeigt. Mit dieser Anordnung der Fernbereichssensoren kann der Querverkehr sowohl bei Vorwärtsfahrt als auch bei Rückwärtsfahrt auf eine im Wesentlichen senkrecht zur Fahrtrichtung verlaufende Fahrbahn festgestellt werden. Ferner kann der Querverkehr auch beim Ausparken aus einer Längsparklücke detektiert werden. Zusätzlich weist die Warneinrichtung des Fahrzeugs weitere seitlich am Fahrzeug angeordnete Nahbereichssensoren auf. Mittels dieser Nahbereichsensoren sowie den Nahbereichssensoren der an den Fahrzeugecken befindlichen Umfeldsensoren wird das unmittelbare seitliche Umfeld des Fahrzeugs erkannt. Ein seitlicher Fernbereichssensor wird daher erst dann aktiviert, wenn die entsprechenden Nahbereichssensoren erkannt haben, dass dem seitlichen Fernbereichssensor kein Hindernis im Weg steht. Mit anderen Worten, befindet sich seitlich des Fahrzeugs eine Hindernis, wie die Wand einer Toreinfahrt oder ein in der Nachbarparklücke parkendes Fahrzeug bei der Ausfahrt aus einer Querparklücke, so wird auf dieser Seite der seitliche Fernbereichssensor erst dann aktiviert, wenn die Environment sensors pointing obliquely backwards. With this arrangement of the long range sensors, the cross traffic can be detected both when driving forward and when reversing to a running substantially perpendicular to the direction of travel roadway. Furthermore, the cross traffic can also be detected when parking out of a Längsparklücke. In addition, the warning device of the vehicle further on the side of the vehicle arranged near range sensors on. By means of these proximity sensors as well as the proximity sensors of the environment sensors located at the corners of the vehicle, the immediate lateral environment of the vehicle is detected. Therefore, a lateral long-range sensor is activated only when the corresponding short-range sensors have detected that there is no obstacle in the way for the lateral long-range sensor. In other words, if there is an obstacle on the side of the vehicle, such as the wall of a gate entrance or a vehicle parked in the neighboring parking space at the exit from a transverse parking space, then the side remote area sensor is activated on this side only if the
Nahbereichssensoren eine sprunghafte Änderung des Abstands zum seitlichen Hindernis feststellen, die Blickrichtung des seitlichen Fernbereichssensors also frei ist. Stellt der Fernbereichssensor einen Querverkehr, also ein seitlich auf der Fahrbahn herannahendes Fahrzeug, fest, so wird eine Warnung an den Fahrer abgegeben. Alternativ kann die Near range sensors detect a sudden change in the distance to the lateral obstacle, the viewing direction of the lateral remote area sensor is thus free. If the long-range sensor detects a transverse traffic, ie a vehicle approaching laterally on the roadway, a warning is issued to the driver. Alternatively, the
Warneinrichtung als Funktion des Gefährdungspotentials auch die Bremsanlage des Fahrzeugs betätigen und das Fahrzeug zum Stillstand bringen. Warning device as a function of the risk potential also actuate the brake system of the vehicle and bring the vehicle to a standstill.
Da der Fahrer keine Kenntnis darüber hat, wann der Fernbereichssensor bei Vorhandensein eines seitlichen Hindernisses aktiviert wird, kann eine Bremsung des Fahrzeugs als mögliche Reaktion auf Querverkehr für den Fahrer überraschend erfolgen. Since the driver has no knowledge of when the long-range sensor is activated in the presence of a lateral obstacle, a braking of the vehicle as a possible reaction to cross traffic for the driver can be surprising.
Aus der Druckschrift DE 10 201 1 013 486 A1 ist ein Fahrerassistenzsystem bekannt, welches Sensoren zur Erfassung eines Querverkehrs aufweist, wobei bei einem erkannten Querverkehr die Kollisionswahrscheinlichkeit berechnet und beim Überschreiten einer vorgegebenen Schwelle ein Bremsmanöver ausgelöst wird. From the document DE 10 201 1 013 486 A1 a driver assistance system is known, which has sensors for detecting a cross traffic, wherein at a detected cross traffic calculates the collision probability and when exceeding a predetermined threshold, a braking maneuver is triggered.
Die Druckschrift DE 10 2009 060 165 A1 offenbart ein Verfahren und eine Vorrichtung zum Ausparken eines Fahrzeugs aus einer unter einem Winkel zur Längsrichtung der Document DE 10 2009 060 165 A1 discloses a method and a device for parking a vehicle from an angle to the longitudinal direction of the vehicle
entsprechenden Fahrbahn angeordneten Querparklücke, wobei Nahbereichsensoren des Fahrzeugs Umfeldinformationen über seitliche Bereiche des Fahrzeugs erfassen und zur Querlenkung des Fahrzeugs herangezogen werden. corresponding roadway arranged transverse parking space, with proximity sensors of the vehicle capture environmental information about lateral areas of the vehicle and used for lateral steering of the vehicle.
Die Druckschrift DE 10 2008 047 284 A1 beschreibt eine Fahrerassistenzvorrichtung zum Unterstützen eines Fahrers beim Ausparken aus einer Längsparklücke, wobei mittels Fernbereichsensoren der Querverkehr auf den seitlichen Fahrbahnen beobachtet wird. Document DE 10 2008 047 284 A1 describes a driver assistance device for assisting a driver when parking out of a longitudinal parking space, with cross traffic being observed on the lateral traffic lanes by means of remote area sensors.
Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung zur Warnung vor Querverkehr beim Ausparken eines Fahrzeugs aus einer Querparklücke zu schaffen, die den Fahrer fortlaufend beim Ausparkvorgang über die Umgebungssituation informieren. The invention is therefore based on the object, a method and apparatus for warning against cross traffic when parking a vehicle from a transverse parking space to create, which inform the driver continuously during the Ausparkvorgang about the environmental situation.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des Anspruchs 1 sowie durch eine Vorrichtung mit den Merkmalen des Anspruchs 10 gelöst. Bevorzugte This object is achieved by a method having the features of claim 1 and by an apparatus having the features of claim 10. preferred
Ausführungsformen der Erfindung sind Gegenstand der Unteransprüche. Embodiments of the invention are the subject of the dependent claims.
Das erfindungsgemäße Verfahren zur Warnung eines Fahrers eines Egofahrzeugs vor Querverkehr bei einer Ausparksituation, insbesondere einer rückwärtigen Ausparksituation aus einer Querparklücke, wobei das Kraftfahrzeug zumindest im Bereich der heckseitigen Ecken Fernbereichsensoren zur Detektion von möglichem Querverkehr und seitliche Nahbereichsensoren zur Detektion des nahen Fahrzeugumfeldes aufweist, und wobei eine Warnung erzeugt wird, wenn zumindest einer der Fernbereichssensoren Querverkehr detektiert, weist die folgende Schritte auf: The inventive method for warning a driver of an ego vehicle from cross traffic in a Ausparkituation, in particular a rear Ausparkituation from a Querparklücke, the motor vehicle has at least in the area of the rear corners remote area sensors for detecting possible cross traffic and lateral Nahbereichsensoren for detecting the nearby vehicle environment, and A warning is generated when at least one of the remote area sensors detects cross traffic, has the following steps:
Vermessen des nahen seitlichen Umfeldes des Egofahrzeugs beim Ausparken, Ermitteln aus den Ergebnissen der Nahbereichsdetektion, ob die  Measuring the proximity of the side-by-side environment of the off-road vehicle when decommissioning, determining from the results of close-range detection, whether the
Fernbereichsensoren freie Sicht auf den Querverkehr haben, und  Remote area sensors have a clear view of the cross traffic, and
Erzeugen eines Hinweises an den Fahrer, falls einer oder beide Fernbereichsensoren keine freie Sicht auf den Querverkehr haben.  Generate an indication to the driver if one or both remote area sensors do not have a clear view of the cross traffic.
Ist das Fahrzeug mit Fernbereichsensoren an allen vier Ecken des Fahrzeugs ausgestattet, so werden vorzugsweise nur diejenigen Fernbereichsensoren in Fahrtrichtung des If the vehicle is equipped with long-range sensors at all four corners of the vehicle, then preferably only those long-range sensors in the direction of travel of
Fahrzeugs betrachtet. Diese sind bei einem rückwärtigen Ausparkvorgang die heckseitigen Sensoren und bei einem vorwärtigen Ausparkvorgang die frontseitigen Sensoren, wobei insbesondere Ausparkvorgänge aus Querparklücken betrachtet werden. Vehicle considered. These are in a rearward Ausparkvorgang the rear-side sensors and in a forward Ausparkvorgang the front-side sensors, in particular Ausparkvorgänge be considered from Querparklücken.
Fernbereichsensoren sind beispielsweise Radarsensoren, Lidarsensoren oder Remote range sensors are, for example, radar sensors, lidar sensors or
Videosensoren. Als Nahbereichsensoren werden üblicherweise Ultraschallsensoren verwendet, wie sie beispielsweise in Park-Lenkassistenten Verwendung finden. Video sensors. As proximity sensors usually ultrasonic sensors are used, as they are used for example in parking steering assistants.
Vorzugsweise erfährt der Fahrer durch den Hinweis, dass ein Fernbereichsensor und insbesondere welcher Fernbereichsensor keine freie Sicht auf den Querverkehr hat, also blockiert ist. Preferably, the driver learns by indicating that a remote area sensor and in particular which remote area sensor does not have a clear view of the cross traffic, so is blocked.
Vorzugsweise wird der Hinweis über Fernbereichsensoren ohne freie Sicht, d.h. blockierte Sensoren, optisch in einem Display dargestellt. Weiter bevorzugt wird in dem Display eine Darstellung des Egofahrzeugs und dessen nahes Umfeld erzeugt, wobei aus der Darstellung optisch ersichtlich ist, welcher Fernbereichsensor keine freie Sicht auf den Querverkehr hat. Es kann also ein blockierter oder auch beide blockierte Fernbereichsensoren als Hinweis dargestellt werden. Preferably, the indication of remote area sensors without a clear view, ie blocked sensors, is displayed optically in a display. More preferably, in the display, a representation of the ego vehicle and its close environment is generated, it being visually apparent from the representation which remote area sensor does not have a clear view of the cross traffic. Thus, a blocked or both blocked remote area sensors can be displayed as an indication.
Weiter bevorzugt werden die aus der Nahbereichsdetektion ermittelten Abstände zu More preferably, the distances determined from the proximity detection are added to
Hindernissen in einer Umfeldkarte eingetragen und es erfolgt eine Auswertung der Obstacles are entered in an environment map and there is an evaluation of
Umfeldkarte im Bereich der vermuteten Sichtverbindung der Fernbereichsensoren zu möglichem Querverkehr. Dabei wird vorzugsweise die Wahrscheinlichkeit berechnet, wann eine Sichtverbindung eines blockierten Fernbereichsensors erfolgt. Environment map in the area of the presumed line of sight of the remote area sensors for possible cross traffic. In this case, the probability is preferably calculated when a line-of-sight connection of a blocked remote area sensor takes place.
Weiter bevorzugt wird der Hinweis auf eine blockierten Sichtverbindung durch ein Symbol, insbesondere ein farbiger Balken, gebildet, welches im Bereich des blockierten More preferably, the reference to a blocked line of sight is formed by a symbol, in particular a colored bar, which is blocked in the area of the block
Fernbereichsensors in der Darstellung des Fahrzeugumfeldes eingeblendet wird. Remote area sensor is displayed in the representation of the vehicle environment.
Weiter bevorzugt wird der Hinweis aufgehoben, wenn die Sichtblockierung des More preferably, the hint is canceled if the obstruction of the
Fernbereichsensors aufgehoben ist. Remote area sensor is canceled.
Insbesondere werden sowohl die blockierten als auch die Sichtverbindung aufweisenden Fernbereichsensoren in der Anzeige dargestellt. Auf diese Weise ist der Fahrer immer über den Zustand seines Assistenzsystems informiert und kann sein Fahrverhalten entsprechend anpassen. In particular, both the blocked and the line-of-sight remote range sensors are shown in the display. In this way, the driver is always informed about the state of his assistance system and can adjust his driving behavior accordingly.
Die erfindungsgemäße Vorrichtung zur Durchführung des im Vorangegangenen The device according to the invention for carrying out the above
beschriebenen Verfahrens weist zumindest im Bereich der heckseitigen Ecken eines Kraftfahrzeugs Fernbereichsensoren zur Detektion möglichen Querverkehrs, seitliche Nahbereichsensoren zur Erfassung des nahen Kraftfahrzeugumfeldes, eine Warneinrichtung zur Warnung vor Querverkehr und eine Anzeige auf, in der dargestellt wird, welcher described method has at least in the area of the rear corners of a motor vehicle remote area sensors for detecting possible cross-traffic, lateral proximity sensors for detecting the nearby motor vehicle environment, a warning device for warning against cross traffic and a display, which is shown in which
Fernbereichsensor keine Sichtverbindung auf den Querverkehr hat. Fernbereichsensor has no line of sight on the cross traffic.
Vorzugsweise weist die Vorrichtung eine Einrichtung zur Erzeugung einer Umfeldkarte aus den Messergebnissen der Nahbereichssensoren auf, wobei aus der Umfeldkarte im Bereich der vermuteten Sichtverbindungen zu möglichem Querverkehr die Wahrscheinlichkeit für eine freie Sicht der Fernbereichsensoren ermittelt wird. Eine bevorzugte Ausführungsform der Erfindung wird nachfolgend anhand der Zeichnungen erläutert. Dabei zeigt The device preferably has a device for generating an environment map from the measurement results of the proximity sensors, the probability for a free view of the remote region sensors being determined from the environment map in the region of the presumed line of sight to possible cross traffic. A preferred embodiment of the invention will be explained below with reference to the drawings. It shows
Fig. 1 eine typische Ausparksituation beim Ausparken aus einer Querparklücke, 1 shows a typical Ausparkituation when parking out of a transverse parking space,
Fig. 2 die Darstellung des Fahrzeugsumfeldes einschließlich wesentlicher Informationen in einem Display, und Fig. 2 shows the representation of the vehicle environment including essential information in a display, and
Fig. 3 die Darstellung des Fahrzeugsumfeldes bei einem durch ein seitliches Hindernis Fig. 3 shows the representation of the vehicle environment in a through a side obstacle
blockierten Fernbereichssensor.  blocked long range sensor.
Fig. 1 zeigt einen Parkplatz 1 bestehend aus einer Vielzahl von Querparkplätzen 2, die durch Markierungen voneinander getrennt sind. Dabei erstreckt sich der Parkplatz 1 an einer Straße mit den Fahrspuren 3, 4. In einem Querparkplatz 2 ist ein Fahrzeug 5 im Begriff rückwärts aus dem Querparkplatz in die Fahrspur 3 auszuparken. Dabei ist beifahrerseitig im Nachbarparkplatz ein parkendes Fahrzeug 6 angeordnet, so dass der Fahrer des ausparkenden Fahrzeugs 5 keinen ausreichenden Blick auf den durch das weitere, auf der Fahrspur 3 befindliche Fahrzeug 7 hat, welches die geplante Ausparktrajektorie kreuzt, so dass eine Kollisionsgefahr gegeben ist. Mittels der in den hinteren Fahrzeugecken des ausparkenden Fahrzeugs 5 angeordneten Radarsensoren 8, 9, die in Fig. 1 symbolisch gestrichelt dargestellt sind, sensiert die Warnvorrichtung den durch das Fahrzeug 7 dargestellten Querverkehr und warnt den Fahrer bei kritischen Situationen, wie dies in Fig. 1 dargestellt ist. Fig. 1 shows a parking lot 1 consisting of a plurality of parking spaces 2, which are separated by markings. In this case, the parking lot 1 extends on a road with the lanes 3, 4. In a transverse parking space 2, a vehicle 5 is about to park out backwards from the transverse parking space in the lane 3. In this case, a parking vehicle 6 is arranged on the passenger side in the neighboring parking space so that the driver of the parking vehicle 5 does not have a sufficient view of the vehicle 7 which is located on the lane 3 and crosses the planned parking trajectory, so that a risk of collision exists. By means of the arranged in the rear corners of the car ausparkenden vehicle 5 radar sensors 8, 9, which are shown in dashed lines symbolically in Fig. 1, the warning device senses the transverse traffic represented by the vehicle 7 and warns the driver in critical situations, as shown in Fig. 1st is shown.
Ist allerdings die direkte Sicht auf den Querverkehr und dem Egofahrzeug 5 durch das benachbart parkende Fahrzeug 6 noch verdeckt, so besteht keine Möglichkeit der However, if the direct view of the cross traffic and the ego vehicle 5 is still hidden by the adjacent parked vehicle 6, there is no possibility of
Erkennung des Querverkehrs, da die Radarstrahlen das benachbarte Fahrzeug 6 nicht durchdringen können. Auch kann mittels der Radarsensoren keine wirkliche Identifikation des seitlich parkenden Fahrzeugs 6 vorgenommen werden. Damit bleiben mögliche Recognition of the cross traffic, since the radar beams can not penetrate the adjacent vehicle 6. Also, no real identification of the laterally parked vehicle 6 can be made by means of the radar sensors. This leaves possible
Warnungen auf querende Fahrzeuge 7 aus, ohne dass der Fahrer des Egofahrzeugs 5 dies erkennen kann. Warnings on crossing vehicles 7, without the driver of the ego vehicle 5 can recognize this.
Durch im Egofahrzeug angeordnete seitliche Ultraschallsensoren (nicht dargestellt), wie sie beispielsweise bei einem Park-Lenkassistenten vorhanden sind und zur Ausmessung der Parklücken und zum Einparkvorgang verwendet werden, kann das Umfeld des By in the vehicle ego lateral ultrasonic sensors (not shown), as they are present for example in a parking steering assistants and are used to measure the parking spaces and for parking, the environment of
Egofahrzeugs 5 ausgemessen und in eine Umfeldkarte eingetragen werden. Dem Fahrer kann daher durch das Ergebnis der Bestimmung des nahen Umfeldes in Form eines Hinweises mitgeteilt werden, dass das rechte Heckradar 8 aufgrund der Abdeckung durch das parkende Fahrzeug 6 kein freies Sichtfeld hat. Aufgrund dieses Hinweises kann der Fahrer entsprechend vorsichtig fahren. Egofahrzeugs 5 are measured and registered in an environment map. The driver can therefore by the result of the determination of the close environment in the form of a Note that the right rear radar 8 due to the cover by the parking vehicle 6 has no free field of view. Due to this information, the driver can drive accordingly carefully.
Fig. 2 zeigt die Darstellung des nahen Umfeldes des Egofahrzeugs 5 der Fig. 1 in einem Display 10, welches eine obere Informationsleiste 1 1 , einen Anzeigebereich 12 zur Fig. 2 shows the representation of the immediate environment of the ego vehicle 5 of FIG. 1 in a display 10, which has an upper information bar 1 1, a display area 12 for
Umfelddarstellung und eine untere Hinweisleiste 13 aufweist. In der oberen Environment representation and a lower hint bar 13 has. In the upper
Informationsleiste 1 1 wird angezeigt, welche Assistenzfunktion aktiv ist. In dem Beispiel der Fig. 2 ist das optische Parksystem OPS aktiv. In dem Anzeigebereich 12 ist eine Info bar 1 1 indicates which assistance function is active. In the example of FIG. 2, the optical parking system OPS is active. In the display area 12 is a
symbolische Fahrzeugdarstellung 14 des Egofahrzeugs 5 der Fig. 1 und dessen nahes Umfeld zu sehen. Da im nahen Umfeld der Fahrzeugdarstellung 14 keine Hindernisse angezeigt werden, ist die Sicht der Heckradarsensoren 8, 9 der Fig. 1 frei und diese Situation wird durch die beiden Symbole 15 und 16 dem Fahrer mitgeteilt. Dabei soll das Symbol 15 symbolisieren, dass das rechte Heckradar 8 freie Sicht hat. Analog symbolisiert das see symbolic vehicle representation 14 of the ego vehicle 5 of FIG. 1 and its vicinity. Since no obstacles are displayed in the immediate vicinity of the vehicle representation 14, the view of the tail radar sensors 8, 9 of FIG. 1 is free and this situation is communicated to the driver by the two symbols 15 and 16. The symbol 15 should symbolize that the right rear radar 8 has a clear view. Analog symbolizes that
Symbol 16 die freie Sicht des linken Heckradars 9. Sollten sich im nahen Umfeld des Egofahrzeugs 5 in der Fahrzeugdarstellung 14 Hindernisse befinden, so werden diese in dem Anzeigebereich 12 symbolisch dargestellt. Symbol 16 is the unobstructed view of the left-hand tail radar 9. Should there be 14 obstacles in the vehicle environment in the vicinity of the vehicle 10, these are symbolically represented in the display area 12.
Ferner weist das Display 10 eine untere Hinweisleiste 13 auf, in der aktuelle Informationen an den Fahrer dargestellt werden. Da im vorliegenden Beispiel ein rückwärtiger Furthermore, the display 10 has a lower information bar 13, are displayed in the current information to the driver. Since in the present example a rearward
Ausparkvorgang stattfindet, wird dem Fahrer angezeigt, dass er den Fahrweg kontrollieren soll. Ausparkvorgang takes place, the driver is indicated that he should control the route.
Fig. 3 zeigt die Situation, in der bei einem rückwärtigen Ausparken des Fahrzeugs aus einer Querparklücke ein in einer benachbarten Parklücke parkendes Fahrzeug oder ein sonstiges Hindernis, wie eine Wand zu Beginn des Ausparkmanövers die Sicht eines Heckradars 8, 9 auf den Querverkehr blockiert. Durch die seitlichen Nahbereichssensoren, beispielsweise die seitlichen Ultraschallsensoren eines Park-Lenkassistenten, werden Hindernisse in der nahen Umgebung des Egofahrzeugs detektiert und in eine Umgebungskarte eingetragen. Durch eine Auswertung der Umgebungskarte im Bereich der vermuteten Sichtverbindung zu möglichem Querverkehr wird eine Wahrscheinlichkeit für eine freie Sicht des oder der Radarsensoren und damit deren einwandfreie Funktionalität ermittelt. Für denjenigen Radarsensor, für den keine freie Sicht ermittelt wird, wird in der Umfeldanzeige 12 an der Stelle ein Hinweis eingeblendet, an welcher der Fernbereichssensor keine freie Sicht hat. Der Hinweis kann beispielsweise in Form eine dicken farbigen Balken 17 erfolgen, der anzeigt auf welcher Fahrzeugseite das Heckradar keine freie Sicht ist und daher an der aktuellen Fahrzeugposition noch kein Querverkehr detektiert werden kann. Im dargestellten Fall hätte das linke Heckradar des Fahrzeugs keine freie Sicht. Wenn sich das ausparkende Egofahrzeug in eine Position bewegt hat, in welcher das Heckradar freie Sicht hat, so wird der durch den Balken 17 symbolisierte Hinweis wieder ausgeschaltet und es wird das Symbol 16 der Fig. 2 für freie Sicht eingeblendet. FIG. 3 shows the situation in which, when the vehicle is parked backwards out of a transverse parking space, a vehicle or other obstacle parked in an adjacent parking space, such as a wall at the beginning of the parking maneuver, blocks the view of a tail radar 8, 9 on the transverse traffic. By means of the lateral proximity sensors, for example the lateral ultrasonic sensors of a parking steering assistant, obstacles in the vicinity of the ego vehicle are detected and registered in an environment map. By evaluating the area map in the area of the presumed line of sight to possible cross traffic, a probability for a free view of the radar sensor or sensors and thus their perfect functionality is determined. For those radar sensors, for which no clear view is determined, a message is displayed in the environment display 12 at the point at which the remote area sensor has no free view. The indication may, for example, take the form of a thick colored bar 17 which indicates on which vehicle side the tail radar is not a clear view and therefore no cross traffic can yet be detected at the current vehicle position. In the illustrated Case, the left rear radar of the vehicle would not have a clear view. If the ausparkende ego vehicle has moved to a position in which the rear radar has a clear view, the symbolized by the bar 17 Note is turned off again and it will appear the symbol 16 of FIG. 2 for clear view.
Auf diese Weise wird der Fahrer über die Funktionalität der den Querverkehr beobachtenden Fernbereichssensoren, im Beispiel die Heckradarsensoren informiert und kann sein In this way, the driver is informed about the functionality of the remote area sensors observing the cross traffic, in the example the tail radar sensors and can be
Fahrverhalten entsprechend anpassen. Diese Möglichkeit besteht natürlich auch bei Ausparkvorgängen in Vorwärtsrichtung, wenn das Fahrzeug mit vorderen Adjust driving behavior accordingly. This possibility is of course also in Ausparkvorgängen in the forward direction, if the vehicle with front
Fernbereichssensoren für den Querverkehr ausgestattet ist. Remote area sensors are equipped for cross traffic.
Bezugszeichenliste LIST OF REFERENCE NUMBERS
Parkreihe Park row
Querparkplatz  Cross parking
Fahrspur lane
Fahrspur lane
Egofahrzeug Egofahrzeug
parkendes Fahrzeug parked vehicle
querendes Fahrzeug crossing vehicle
Heckradar  Heck radar
Heckradar  Heck radar
Display display
Informationsleiste information bar
Anzeigebereich zur Umfelddarstellung Display area for environment representation
Hinweisleiste Note bar
Darstellung Fahrzeug und Umfeld Presentation of vehicle and environment
Aktivität Heckradar rechts Activity tail radar right
Aktivität Heckradar links Activity tail radar on the left
Symbol für Unterbrechung der Sichtverbindung Symbol for interruption of the line of sight

Claims

Patentansprüche claims
1 . Verfahren zur Warnung eines Fahrers eines Egofahrzeugs (5) vor Querverkehr (7) bei Ausparksituationen, insbesondere rückwärtigen Ausparksituationen, wobei das Egofahrzeug (5) zumindest im Bereich der heckseitigen Fahrzeugecken 1 . Method for warning a driver of an ego vehicle (5) against cross traffic (7) in the event of a parking situation, in particular rearward parking situations, wherein the ego vehicle (5) extends at least in the area of the rear-end vehicle corners
Fernbereichsensoren (8, 9) zur Detektion von möglichem Querverkehr (7) und seitliche Nahbereichsensoren zur Detektion des nahen Fahrzeugumfeldes aufweist, und wobei eine Warnung erzeugt wird, wenn zumindest einer der  Remote range sensors (8, 9) for detecting possible cross traffic (7) and lateral proximity sensors for detecting the near vehicle environment, and wherein a warning is generated when at least one of the
Fernbereichssensoren (8, 9) Querverkehr (7) detektiert,  Long range sensors (8, 9) cross traffic (7) detected,
dadurch gekennzeichnet, dass  characterized in that
das nahe seitliche Umfeld des Egofahrzeugs (5) beim Ausparken vermessen wird, aus den Ergebnissen der Nahbereichsdetektion ermittelt wird, ob die  the near side environment of the ego vehicle (5) is measured during the parking, is determined from the results of close range detection, whether the
Fernbereichsensoren (8, 9) freie Sicht auf den Querverkehr (7) haben, und ein Hinweis (17) an den Fahrer erzeugt wird, falls einer oder beide  Remote range sensors (8, 9) have clear view of the cross traffic (7), and an indication (17) is generated to the driver, if one or both
Fernbereichsensoren (8, 9) keine freie Sicht auf den Querverkehr (7) haben.  Fernbereichsensoren (8, 9) have no clear view of the cross traffic (7).
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass dem Fahrer mitgeteilt wird, welcher Fernbereichsensor (8, 9) keine freie Sicht auf den Querverkehr (7) hat. 2. The method according to claim 1, characterized in that the driver is informed, which remote area sensor (8, 9) has no free view of the cross traffic (7).
3. Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass der Hinweis auf Fernbereichsensoren (8, 9) ohne freie Sicht optisch in einem Display (10) dargestellt wird. 3. The method according to any one of claims 1 or 2, characterized in that the reference to remote area sensors (8, 9) without a clear view is visually displayed in a display (10).
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass das Display (10) eine Darstellung (14) des Egofahrzeugs und dessen nahes Umfeld erzeugt, wobei aus der Darstellung (14) optisch ersichtlich ist, welcher Fernbereichsensor (8, 9) keine freie Sicht auf den Querverkehr hat. 4. The method according to claim 3, characterized in that the display (10) generates a representation (14) of the ego vehicle and its close environment, wherein from the representation (14) is optically visible, which remote area sensor (8, 9) no clear view on the cross traffic has.
5. Verfahren nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die aus der Nahbereichsdetektion ermittelten Abstände zu Hindernissen in einer Umfeldkarte eingetragen werden und eine Auswertung der Umfeldkarte im Bereich der vermuteten Sichtverbindung der Fernbereichsensoren (8, 9) zu möglichem Querverkehr (7) erfolgt. 5. The method according to any one of the preceding claims, characterized in that the determined from the proximity detection distances to obstacles are entered in an environment map and an evaluation of the environment map in the area of the suspected line of sight of the remote area sensors (8, 9) to possible cross-traffic (7) ,
6. Verfahren nach Anspruch 5, dadurch gekennzeichnet, dass die Wahrscheinlichkeit berechnet wird, wann eine Sichtverbindung eines blockierten Fernbereichsensors (8, 9) erfolgt. 6. The method according to claim 5, characterized in that the probability is calculated when a visual connection of a blocked remote area sensor (8, 9) takes place.
7. Verfahren nach einem der Ansprüche 3 bis 6, dadurch gekennzeichnet, dass der Hinweis (17) auf eine blockierte Sichtverbindung durch ein Symbol, insbesondere durch einen farbigen Balken, realisiert wird, welches in dem Bereich des blockierten Fernbereichsensors (8, 9) in der Darstellung (14) des Fahrzeugsumfeldes 7. The method according to any one of claims 3 to 6, characterized in that the reference (17) to a blocked line of sight by a symbol, in particular by a colored bar, realized in the region of the blocked remote area sensor (8, 9) in the representation (14) of the vehicle environment
eingeblendet wird.  is displayed.
8. Verfahren nach einem der vorangegangen Ansprüche, dadurch gekennzeichnet, dass der Hinweis (17) aufgehoben wird, wenn die Sichtblockierung des 8. The method according to any one of the preceding claims, characterized in that the hint (17) is canceled when the blocking of the view of the
Fernbereichsensors (8, 9) aufgehoben ist.  Fernbereichsensors (8, 9) is canceled.
9. Verfahren nach einem der Ansprüche 3 bis 8, dadurch gekennzeichnet, dass sowohl die blockierten als auch die Sichtverbindung aufweisenden 9. The method according to any one of claims 3 to 8, characterized in that having both the blocked and the visual connection
Fernbereichsensoren (8, 9) in der Anzeige dargestellt werden.  Remote range sensors (8, 9) are shown in the display.
10. Vorrichtung zur Durchführung des Verfahrens zur Warnung eines Fahrers eines 10. Apparatus for carrying out the method for warning a driver of a
Egofahrzeugs (5) vor Querverkehr (7) bei Ausparksituationen nach einem der vorangegangenen Ansprüche mit zumindest im Bereich der heckseitigen Ecken eines Kraftfahrzeugs angeordneten Fernbereichsensoren (8, 9) zur Detektion möglichen Querverkehrs, mit seitlichen Nahbereichsensoren zur Erfassung des nahen  Egofahrzeugs (5) before cross traffic (7) in Ausparkituationen according to one of the preceding claims with at least in the rear corners of a motor vehicle arranged remote area sensors (8, 9) for detecting possible cross-traffic, with lateral Nahbereichsensoren for detecting the near
Kraftfahrzeugumfeldes und mit einer Warneinrichtung zur Warnung vor Querverkehr, dadurch gekennzeichnet, dass  Automotive environment and with a warning device to warn against cross traffic, characterized in that
die Vorrichtung eine Anzeige (10) aufweist, in der dargestellt wird, welcher  the apparatus comprises a display (10) showing which one
Fernbereichsenor keine Sichtverbindung auf den Querverkehr hat.  Fernbereichsenor has no line of sight on the cross traffic.
1 1. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, dass die Vorrichtung eine Einrichtung zur Erzeugung einer Umfeldkarte aus den Messergebnissen der 1 1. Apparatus according to claim 9, characterized in that the device comprises means for generating an environment map from the measurement results of
Nahbereichsensoren aufweist, wobei aus der Umfeldkarte im Bereich der vermuteten Sichtverbindungen zu möglichem Querverkehr (7) die Wahrscheinlichkeit für eine freie Sicht der Fernbereichsensoren (8, 9) ermittelt wird.  Near range sensors, wherein the probability of a free view of the remote area sensors (8, 9) is determined from the environment map in the area of the suspected line connections to possible cross-traffic (7).
PCT/EP2013/072876 2012-11-14 2013-11-01 Method and device for warning against cross traffic when leaving a parking space WO2014075936A1 (en)

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